• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1147-1152
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• 2014

This paper describes the design of a four-axis force/torque sensor with PSPBs (Parallel Step Plate Beams). The sensor is composed of eight PSPBs, a force/torque transmitting block, and fixing blocks. It is designed by using the FEM(Finite Element Method), and fabricated by using strain gages. The characteristic tests of the sensor are carried out, and the interference error, repeatability error, and non-linearity error are less than 2.21%, 0.03% and 0.03%. Furthermore, the structure of the four-axis force/torque sensor with PSPBs has a larger rated capacity than that of the four-axis force/torque sensor with PPBs under the same overall sensor size and the same rated output. It is thought that the developed four-axis force/torque sensor with PSPBs can be used for measuring the forces and torques in an intelligent robot, automation devices, etc.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.3
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• pp.300-307
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• 2013

This paper describes the development of a cylindrical-object grasping force measuring system applied haptic technology to measure the grasping force of strokes patients' fingers and other patients' paralyzed fingers. Because the cylindrical-object and the force measuring device of the developed cylindrical-object grasping force measuring system are connected with the electrical wires, patients and their families have difficulty not only measuring the patients' grasping force using the system but also knowing their rehabilitation extent when using it. In this paper, the cylindrical-object grasping force measuring system applied haptic technology was developed, and the cylindrical-object grasping force measuring device sends data to the rehabilitation evaluating system applied haptic technology by wireless communication. The grasping force measurement characteristic test using the system was carried out, and it was confirmed that the rehabilitation extent of the patients' paralyzed fingers and normal people fingers can be evaluated.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.7
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• pp.524-529
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• 2016

We describe the design and fabrication of a two-axis force/torque sensor with parallel-plate beams (PPBs) and single beams for measuring force and torque in hip-joint rehabilitation exercise using a lower rehabilitation robot. The two-axis force/torque sensor is composed of an Fz force sensor and a Tz torque sensor, which detect z direction force and z direction torque, respectively. The two-axis force/torque sensor was designed using the FEM (Finite Element Method) and manufactured using strain gages. The characteristics experiment of the two-axis force/torque sensor was carried out. The test results show that the interference error of the two-axis force/torque sensor was less than 0.64% and the repeatability error and the non-linearity of the two-axis force/torque sensor were less than 0.03%. It is thought that the developed two-axis force/torque sensor could be used for a lower rehabilitation robot.

• The Journal of Korea Robotics Society
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• v.13 no.1
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• pp.55-62
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• 2018

In this paper, a method for estimation of external force on an end-effector using joint torque sensor is proposed. The method is based on portion of measure torque caused by external force. Due to noise in the torque measurement data from the torque sensor, a recursive least-square estimation algorithm is used to ensure a smoother estimation of the external force data. However it is inevitable to create a delay for the sensor to detect the external force. In order to reduce the delay, modified recursive least-square is proposed. The performance of the proposed estimation method is evaluated in an experiment on a developed six-degree-of-freedom robot. By using NI DAQ device and Labview, the robot control, data acquisition and The experimental results output are processed in real time. By using proposed modified RLS, the delay to estimate the external force with the RLS is reduced by 54.9%. As an experimental result, the difference of the actual external force and the estimated external force is 4.11% with an included angle of $5.04^{\circ}$ while in dynamic state. This result shows that this method allows joint torque sensors to be used instead of commonly used external sensory system such as F/T sensors.

• Proceeding of EDISON Challenge
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• 2014.03a
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• pp.439-441
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• 2014

단층 $MoS_2$는 현재 트랜지스터나 LED등에 활용을 연구중인 물질이다. 단층 $MoS_2$의 밴드구조는 약 1.8eV의 직접 밴드갭을 보이는 반도체로 알려져있다. 이 물질을 소자에 활용할 때 고유의 1.8 eV 직접 밴드갭을 이용한다. 다양한 분야에 소자로 응용되기 위해서는 밴드갭을 조절이 필요하다. 그래서 $MoS_2$의 밴드갭을 조절하는 연구가 행해져 왔는데 그 중 하나가 수소흡착 방법이다. 수소를 단층 $MoS_2$에 흡착시키면 금속 밴드구조를 보인다고 알려져 있다. 본 연구에서는 DFT (Density Functional Theory) 계산을 통하여 밴드갭을 조절하는 다른 방법 중에 하나인 역학적인 힘에 의해 전기적인 특성의 변화에 대한 기초연구를 진행하였다. 단층 $MoS_2$에 in-plane 방향으로 isotropic strain을 주었을 때 밴드갭이 0.68 eV에서 1.89 eV까지 변하는 것을 확인했다. 우리는 단층 $MoS_2$는 약간의 strain에도 밴드갭크기가 다소 많이 변할 뿐만 아니라 직접 밴드갭이 간접 밴드갭으로 변하는 것을 보였다. 심지어 10%정도 strain을 주면 금속으로 변할 것으로 예상된다. 밴드갭이 변하는 성질을 이용하여 센서등 여러 어플리케이션에 단층 $MoS_2$를 활용할 수 있을 것으로 예상된다.

• Transactions of the Korean Society of Automotive Engineers
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• v.18 no.4
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• pp.8-17
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• 2010

In this paper, a fault tolerant control against sensor faults of electric parking brake (EPB) is proposed. Fault tolerant control method of EPB system is strongly demanded since sensor faults can endanger a driver's safety. In this paper, a clamp force estimation method is presented using motor's armature current and angular velocity. Clamp force estimation method is applied for fault detection method with parity equations. The goal of the detection method is to detect and identify faults in encoder, current sensor, force sensor, and parking cable. And a switching logic for fault tolerant control against the three sensor faults is suggested. Experimental results show that the proposed force estimation method satisfies the specifications of EPB system. The effectiveness of the fault detection method is validated with experimental results. Although a single sensor fault happens, EPB system with the proposed fault detection method does not develop into a failure on subsystem or system level.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.4
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• pp.203-210
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• 2014

In this study, we present a method for correcting unbalanced sitting posture alignment to its optimal position, by designing a chair equipped with pressure sensor. With increasement in sedentary work, such as office work or study, people are now spending more time in chair. To accommodate sedentary life styles, many chairs are being designed for a comfortable sitting condition. However, without awareness and efforts for correct sitting posture, it may not be possible to achieve such condition. When the weight is not distributed evenly while sitting, it may cause various diseases such as scoliosis and a herniated disc. Being inspired by such facts, we have progressed basic researches to maintain the correct sitting posture. To demonstrate the proof-of-concept validation, we installed a series of sensors to a chair and then measured the changes in pressure distribution in various postures. The results show that this approach can be potentially helpful for understanding how fundamental problems due to unbalanced sitting posture can be corrected and maintained properly.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.368-373
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• 2003

This paper presents a study of low frequencies volume velocity vibration control of a smart panel in order to reduce sound transmission. A distributed piezoelectric quadratically shaped polyvinylidene fluoride (PVDF) polymer film is used as a uniform force actuator and an array of 4$\times$4 accelerometer is used as a volume velocity sensor for the implementation of a single-input single-output con rot system. The theoretical and experimental study of sensor-actuator frequency response function sho vs that this sensor-actuator arrangement provides a required strictly positive real frequency response function below about 900Hz. Direct velocity feedback could therefore be implemented with a limited gain which gives reductions of about 15㏈ in vibration level and about 8 ㏈ in acoustic power level at the (1, 1) mode of the smart Panel. It has been also shown that the shaping error of PVDF actuator could limit he stability and performance of the control system.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.484-489
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• 2011

Some patients can't use their hands because of inherent and acquired paralysis of their fingers. Their fingers can recover with rehabilitative training, and the extent of rehabilitation can be judged by grasping a cylindrical-object with their fingers. At present, the cylindrical-object used in hospitals is only a cylinder which cannot measure grasping force of the fingers. Therefore, doctors must judge the extent of rehabilitation by watching patients' fingers as they grasp the cylinder. A cylindrical-type finger force measuring system which can measure the grasping force of patients' fingers should be developed. This paper looks at the development of a cylindrical-type finger force measuring system with two-axis force/moment sensor which can measure grasping force. The two-axis force/moment sensor was designed and fabricated, and the high-speed force measuring device was designed and manufactured by using DSP (digital signal processing). Also, cylindrical-type finger force measuring system was developed using the developed two-axis force/moment sensor and the high-speed force measuring device, and the grasping force tests of men were performed using the developed system. The tests confirm that the average finger forces of right and left hands for men were about 186N and 172N respectively.

• 한국HCI학회:학술대회논문집
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• 2008.02c
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• pp.19-24
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• 2008

This paper presents a physically-based haptic rendering algorithm for a deformable object based on visual information about the intervention between a tool and a real object in a remote place. The physically-based model of a deformable object is created from the mechanical properties of the object and the captured image obtained with a CCD camera. When a slave system exerts manipulation tasks on a deformable object, the reaction force for haptic rendering is computed using boundary element method. Snakes algorithm is used to obtain the geometry information of a deformable object. The proposed haptic rendering algorithm can provide haptic feedback to a user without using a force transducer in a teleoperation system.